Federated Filter Based Multi-Sensor Fault-tolerant Altitude Determination System for UAV

被引：4

作者：

Hu Yong ^{[1
]}

Zhen Ziyang ^{[1
]}

Wang Zhisheng ^{[1
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Peoples R China

来源：

2008 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-11 | 2008年

关键词：

Altitude Determination; Information Fusion; Federated Filter; Fault Recovery; Unmanned Aerial Vehicle;

D O I：

10.1109/CCDC.2008.4597682

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An altitude determination system for unmanned aerial vehicle (UAV) is presented in this paper, in which a multi-sensor measurement system is designed by using barometric altitude sensor, GPS, and accelerometer, and the UAV altitude is determined by the federated filter based fusion estimation method. The measurement information fusion problem of the sensors with different output frequency is resolved by designing the subsystems respectively Calculation method for initial value is presented based on the information fusion theory. The re-initialization time after fault isolation of the system is reduced greatly The simulation results show that the altitude determination system is characterized by high precision, good reliability, and fast fault restoration.

引用

页码：2030 / 2034

页数：5